Driving wheel suspension device and vehicle with same

Abstract

The utility model relates to a driving wheel suspension device and a vehicle with the driving wheel suspension device. The driving wheel suspension device comprises a connecting mechanism; the middle part of the cross beam is used for being rotatably connected with the driving wheel, and the first end of the cross beam is rotatably connected to the connecting mechanism; the damping mechanism is arranged at the second end of the cross beam and comprises a bottom plate; the stroke frame is arranged on the bottom plate, the second end of the stroke frame penetrates through the stroke frame, and the stroke frame is used for limiting movement of the cross beam in the vertical direction; the elastic piece is connected between the second end and the bottom plate, through cooperation of the elastic piece and the stroke frame, when the driving wheel bumps and displaces, the elastic piece limits the movement of the cross beam and the driving wheel in the vertical direction and in the axial direction of the driving wheel, and the stroke frame can also limit and guide the displacement of the cross beam and the driving wheel in the vertical direction; and meanwhile, the stroke frame forms limiting protection on the elastic piece, damping failure caused by damage of the elastic piece is prevented, and the stability and safety of the driving wheel in the running process are guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of autonomous mobile robots (ARM), and particularly relates to a drive wheel suspension device for an ARM. Background Art

[0002] An ARM is an unmanned transport vehicle that can autonomously navigate to complete the transportation tasks of goods or materials. ARMs are often used in places such as factories, warehouses, and hospitals to automatically perform tasks such as material handling, loading and unloading, and sorting.

[0003] In traditional technologies, the connection between the drive mechanism of an ARM and the vehicle body of the ARM is often a rigid connection. However, there may be obstacles or road surface defects in the working path of the ARM. When the wheels of the ARM pass through these paths, it will cause the vehicle body to jolt, resulting in the dropping or bumping of the transported goods, affecting the stability and safety of transportation. To solve the above problems, a drive wheel suspension device with a shock-absorbing effect needs to be proposed. Summary of the Utility Model

[0004] The technical problem to be solved by the present disclosure is to overcome the above deficiencies and provide a drive wheel suspension device and a vehicle having the same.

[0005] One aspect of the present disclosure provides a drive wheel suspension device, including: a connection mechanism; a cross beam, the middle part of the cross beam is used for rotatably connecting a drive wheel, and the first end of the cross beam is rotatably connected to the connection mechanism; and a shock-absorbing mechanism, which is arranged at the second end of the cross beam. The shock-absorbing mechanism includes: a bottom plate; a stroke frame arranged on the bottom plate, the second end passes through the stroke frame and is used to limit the movement of the cross beam in the vertical direction; and an elastic member connected between the second end and the bottom plate.

[0006] Further, the stroke frame includes two support arms extending perpendicular to the bottom plate, and the tops of the two support arms are connected.

[0007] Further, a first mounting portion is provided on the second end of the cross beam, and a second mounting portion is provided on the side of the bottom plate facing the cross beam. The elastic member is mounted between the first mounting portion and the second mounting portion.

[0008] Further, the first mounting portion is arranged on the side of the second end away from the stroke frame, and the second mounting portion is arranged in the middle area on the side of the bottom plate away from the stroke frame.

[0009] Further, the first mounting portion is one of a lug or a hook provided on the second end, and the second mounting portion is one of a lug or a hook provided on the surface of the bottom plate facing the cross beam. The elastic member is hung on the first mounting portion through a first hook member and hung on the second mounting portion through a second hook member.

[0010] Further, the connecting mechanism includes a connecting shaft and a connecting frame. A first docking hole is formed at the first end of the cross beam. The connecting shaft is inserted into the first docking hole, and a connecting frame is connected between the first docking hole and the connecting shaft.

[0011] Further, the connecting frame includes two connecting plates extending in the vertical direction. Each of the two connecting plates is provided with a second docking hole. A bush is connected to the contact surface between the second docking hole and the connecting shaft. The inner diameter of the bush is matched with the outer wall of the connecting shaft, and the outer diameter is matched with the inner walls of the second docking hole and the first docking hole. The bush is used to reduce the rotational friction between the cross beam and the connecting mechanism.

[0012] Further, a driving mechanism is connected to the middle of the cross beam. The driving mechanism includes a clamping block, a shaft rod, and a driving wheel. A groove is formed in the middle of the cross beam. One end of the shaft rod is connected with the driving wheel, and the other end passes through the groove. The clamping block presses and fixes the shaft rod in the groove.

[0013] Further, the cross beam protrudes and extends away from the driving wheel to form a groove. A first receiving groove is provided in the groove. A second receiving groove is formed on the side of the clamping block facing the shaft rod. At least one of the first receiving groove and the second receiving groove is provided with a horizontal bottom surface. There is a horizontal recess on the shaft rod corresponding to the horizontal bottom surface. The groove formed by the cooperation of the first receiving groove and the second receiving groove is used to receive and fix the shaft rod.

[0014] On the basis of the above solution, another aspect of the present disclosure further provides a vehicle equipped with the above-mentioned driving wheel suspension device.

[0015] Compared with the traditional technology, the driving wheel suspension device in the present disclosure has the following beneficial effects: In the driving wheel suspension device of the present application, through the cooperation of the elastic member and the stroke frame, when the driving wheel undergoes bump displacement, the elastic member restricts the activities of the cross beam and the driving wheel in the vertical direction and along the axial direction of the driving wheel. The stroke frame can also limit and guide the displacement of the cross beam and the driving wheel in the vertical direction. At the same time, the stroke frame forms a limit protection for the elastic member, preventing the damping failure caused by the damage of the elastic member. Through the above structure, the damping effect of the driving wheel is effectively realized, and the stability and safety of the driving wheel during operation are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure. In the drawings:

[0017] Figure 1 is a schematic diagram of the overall structure of the driving wheel suspension device according to an embodiment of the present disclosure;

[0018] Figure 2 is an exploded view of the driving wheel suspension device according to an embodiment of the present disclosure;

[0019] Figure 3 Schematic diagram of the shock absorption mechanism of the drive wheel suspension device according to an embodiment of the present disclosure.

[0020] Description of reference numerals:

[0021] Cross beam 1, connecting mechanism 2, shock absorption mechanism 3, drive wheel 4, first docking hole 51, second docking hole 52, connecting shaft 6, connecting frame 7, bushing 8, stroke frame 9, bottom plate 10, first mounting portion 11, second mounting portion 12, elastic member 13, clamping block 14, second receiving groove 141, shaft rod 15, first receiving groove 16. Detailed implementation manners

[0022] It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0023] In order to enable those skilled in the art to better understand the solution of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0024] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification and claims of the present disclosure are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. In addition, in the description with reference to the drawings, the same reference numerals in different drawings represent the same elements.

[0025] One aspect of the present disclosure provides a drive wheel suspension device for an autonomous mobile robot (ARM), as Figures 1-3 shown, the drive wheel suspension device includes:

[0026] A connecting mechanism 2; a cross beam 1, the middle part of the cross beam 1 is used for rotatably connecting the drive wheel 4, and the first end of the cross beam 1 is rotatably connected to the connecting mechanism 2; and a shock absorption mechanism 3, disposed at the second end of the cross beam 1, the shock absorption mechanism 3 includes: a bottom plate 10; a stroke frame 9, disposed on the bottom plate 10, the second end passes through the stroke frame, and is used to limit the movement of the cross beam 1 in the vertical direction; and an elastic member 13, connected between the second end and the bottom plate.

[0027] Specifically, as shown in Figure 1 and Figure 2 , the elastic member 13 is detachably installed between the second end of the cross beam 1 and the bottom plate 10, so that the elastic member 13 can be directly maintained and replaced, reducing the maintenance cost. A travel frame 9 sleeved outside the cross beam 1 is designed. When the driving wheel 4 has a large-angle and large-distance offset, it guides and restricts the activities of the cross beam 1 and the driving wheel 4 in the vertical direction (the second direction X) and the axial direction of the driving wheel (the first direction Y), and forms a limit protection for the elastic member (13) to prevent the stretching amount of the elastic member (13) from exceeding its elastic limit and causing the damping failure. Through the above structure, the damping effect on the driving wheel is effectively realized, ensuring the stability and safety of the driving wheel during operation.

[0028] In an embodiment of the present disclosure, as shown in Figures 1-3 , the travel frame 9 includes two support arms extending perpendicular to the bottom plate 10, and the tops of the two support arms are connected.

[0029] Specifically, as shown in Figures 1-3 , the travel frame 9 is sleeved on the second end of the cross beam 1. The base of the travel frame 9 is fixed to the chassis through fasteners. The inner wall of the guide groove formed by the two support arms and the surface of the bottom plate 10 is a guiding structure, which plays a guiding role in the vertical direction when the driving wheel 4 is disturbed and the cross beam 1 generates a biasing force, limits the offset movement of the cross beam 1 in the vertical direction and the axial direction of the driving wheel, and ensures the stable operation of the driving wheel 4. In addition, the swinging end of the cross beam 1 is installed through the guide groove, and the top of the guide groove limits the cross beam 1 to prevent the swinging end of the cross beam 1 from exceeding the elastic limit position of the elastic member 13 when the driving wheel 4 exceeds the limit load or has a large-distance offset upward, so as to prevent the elastic member 13 from being damaged, further improving the damping performance and safety of the entire driving wheel suspension device.

[0030] In an embodiment of the present disclosure, as shown in the figure, a first mounting portion 11 is provided at the second end of the cross beam 1, and a second mounting portion 12 is provided on the side of the bottom plate 10 facing the cross beam 1. The elastic member 13 is installed between the first mounting portion 11 and the second mounting portion 12.

[0031] The present disclosure does not limit the selection of the elastic member 13. In an embodiment of the present disclosure, as shown in Figure 1 and Figure 2 , the elastic member 13 is selected as a tension spring. The tension spring is respectively installed between the cross beam 1 and the bottom plate 10 through the hanging members at both ends. The tension spring is easy to manufacture, has a low installation and maintenance cost, and can effectively realize the limit of the cross beam 1.

[0032] In an embodiment of the present disclosure, as shown in Figure 2As shown, the first mounting portion 11 is provided on one side of the second end away from the stroke frame 9, and the second mounting portion 12 is provided in the middle area on one side of the bottom plate 10 away from the stroke frame 9.

[0033] Specifically, as Figure 2 shown, the first mounting portion 11 is one of a lug or a hook provided on the second end, and the second mounting portion 12 is one of a lug or a hook provided on the surface of the bottom plate 10 facing the cross beam 1. The elastic member 13 is hung on the first mounting portion through the first hook member and hung on the second mounting portion through the second hook member.

[0034] Specifically, as Figure 2 shown, the first mounting portion 11 is mounted at one end of the second end away from the stroke frame 9. This mounting position can provide the maximum torque relative to the position of the driving wheel 4. At the same time, when the driving wheel 4 is offset in the vertically upward direction, the distance formed by the first mounting portion and the second mounting portion is the largest, so that the stretching length and tension of the elastic member 13 are the largest, improving the shock absorption performance and efficiency. Also, when the driving wheel 4 is offset in the vertically downward direction, the compression degree of the elastic member 13 by the cross beam 1 can be reduced, protecting the elastic member 13.

[0035] Specifically, the first hook member and the second hook member can be selected as hooks to be hung on the lugs, or can be selected as lugs to be correspondingly hung on the hooks. In an embodiment of the present disclosure, as Figure 2 shown, the elastic member 13 is mounted on the first mounting portion 11 of the cross beam 1 through the first mounting member. The first mounting member is a hook, and the first mounting portion 11 is a lug provided on the second end of the cross beam 1; the other end of the elastic member 13 is mounted on the second mounting portion 12 on the bottom plate 10 through the second mounting member. The second mounting member is a hook, and the second mounting portion 12 is a lug protruding from the surface of the bottom plate 10. The design of the first hook member and the second hook member is easy to manufacture, convenient for integrally forming with the elastic member 13, reducing the manufacturing cost. At the same time, the hook connection method makes the elastic member 13 easy to disassemble and assemble, reducing the maintenance difficulty.

[0036] In an embodiment of the present disclosure, as Figure 2 shown, the connecting mechanism 2 includes a connecting shaft 6 and a connecting frame 7. A first docking hole 51 is opened at the first end of the cross beam 1, the connecting shaft 6 is inserted into the first docking hole 51, and a connecting frame 7 is connected between the first docking hole 51 and the connecting shaft 6.

[0037] Specifically, as Figure 2As shown in the figure, the connecting frame 7 includes two connecting plates extending in the vertical direction. Each of the two connecting plates is provided with a second docking hole 52. A bushing 8 is connected to the contact surface of the second docking hole 52 and the connecting shaft 6. The inner diameter of the bushing 8 is matched with the outer wall of the connecting shaft 6, and the outer diameter is matched with the inner walls of the second docking hole 52 and the first docking hole 51. The bushing 8 is used to reduce the rotational friction between the cross beam 1 and the connecting mechanism 2.

[0038] Specifically, as Figure 2 shown, the connecting mechanism 2 takes the connecting frame 7 as the main body. The connecting shaft 6 passes through the connecting frame 7 through two second docking holes 52. The connecting shaft 6 is also rotatably connected to the cross beam 1 through the first connection hole 51. The cross beam 1 is arranged between the two connecting plates, and the first docking hole 51 is arranged opposite to the two second docking holes 52. The inner diameters of the two bushings 8 are matched with the connecting shaft 6, and the outer diameters of the bushings 8 are matched with the inner walls of the second docking holes 52 and the first docking holes 51. The bushing 8 has the properties of wear resistance and self-lubrication, or lubricating oil is used on the contact surface between the bushing 8 and the second docking hole 52. The above structure and its matching relationship effectively reduce the friction between the connecting shaft 6 and the second docking hole 52, making the rotation of the cross beam 1 relative to the connecting shaft 6 smooth. In an embodiment of the present disclosure, the connecting shaft 6 adopts a shoulder hinge pin, and a nut is used to fix the part of the connecting shaft 6 extending out of the second docking hole 52, which can effectively improve the compactness and stability of the components of the connecting mechanism 2.

[0039] In an embodiment of the present disclosure, as Figure 1 、 Figure 2 shown, a driving mechanism is connected to the middle of the cross beam 1. The driving mechanism includes a clamping block 14, a shaft rod 15 and a driving wheel 4. A groove is provided in the middle of the cross beam 1. One end of the shaft rod 15 is connected to the driving wheel 4, and the other end passes through the groove. The clamping block 14 presses and fixes the shaft rod 15 in the groove, and the other end passes through the groove. The clamping block (14) presses and fixes the shaft rod (15) in the groove.

[0040] Specifically, as Figure 2 shown, the cross beam 1 protrudes and extends out of the groove toward the side away from the driving wheel 4. A first receiving groove 16 is provided in the groove. A second receiving groove 141 is provided on the side of the clamping block 14 facing the shaft rod 15. At least one of the first receiving groove 16 and the second receiving groove 141 is provided with a horizontal bottom surface. There is a horizontal recess on the shaft rod 15 corresponding to the horizontal bottom surface. The slot formed by the cooperation of the first receiving groove 16 and the second receiving groove 141 is used to receive and fix the shaft rod 15.

[0041] In an embodiment of the present disclosure, as Figure 2As shown in the figure, the first receiving groove 16 is a semi-circular groove provided on the cross beam 1, and the second receiving groove 141 is a semi-circular groove provided on the clamping block 14 opposite to the first receiving groove 16. The second receiving groove 12 is provided with a horizontal bottom surface, and the shaft rod 15 is provided with a horizontal recess for mating with the horizontal bottom surface. The clamping block 14 is respectively provided with screw holes at the four corners of its top surface. The clamping block 14 presses and fixes the shaft rod 15 to the first receiving groove 16 through screw connectors. When disassembling, only the disassembly screw connectors need to be removed to maintain the driving wheel 4 and the shaft rod 15, reducing the maintenance difficulty. The positions of the two semi-circular grooves are opposite and coaxial. The axial width of the clamping block 14 is slightly smaller than the length of the installation plane of the shaft rod 15, and the length of the clamping block 14 is slightly smaller than the width of the first receiving groove 16. Such a design facilitates the installation of the clamping block 14 on the cross beam 1, reduces the influence of manufacturing errors, and reduces the assembly difficulty. The positions of the two semi-circular grooves are opposite and coaxial, and the mating end surfaces of the first receiving groove 16 and the clamping block 14 are horizontally butted. At the same time, the extended part of the groove provided on the cross beam 1 protrudes a relatively large distance compared with the overall thickness of the cross beam 1, providing a sufficiently strong lateral support for the driving wheel 4 and ensuring the stability of the driving wheel 4.

[0042] On the basis of the above solution, on the other hand, the present disclosure also provides a vehicle including the above-described driving wheel suspension device.

[0043] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0044] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination methods.

[0045] In addition, any combination can be made between different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A driving wheel suspension device, characterized in that: include: Connecting mechanism (2); A crossbeam (1), the middle portion of the crossbeam (1) is used to rotatably connect to the driving wheel (4), the first end of the crossbeam (1) is rotatably connected to the connecting mechanism (2), and; A shock absorbing mechanism (3) is arranged at the second end of the crossbeam (1), and the shock absorbing mechanism (3) comprises: Bottom plate (10); a travel frame (9) disposed on the bottom plate (10), wherein the second end passes through the travel frame and is used to limit the movement of the crossbeam (1) in the vertical direction, and; An elastic member (13) is connected between the second end and the bottom plate.

2. The driving wheel suspension device according to claim 1, characterized in that: The travel frame (9) comprises two support arms extending perpendicularly to the base plate (10), and the top ends of the two support arms are connected.

3. The driving wheel suspension device according to claim 1, characterized in that: A first mounting portion (11) is provided on the second end of the crossbeam (1), a second mounting portion (12) is provided on a side of the bottom plate (10) facing the crossbeam (1), and the elastic member (13) is installed between the first mounting portion (11) and the second mounting portion (12).

4. The driving wheel suspension device according to claim 3, characterized in that: The first mounting portion (11) is arranged on a side of the second end away from the travel frame (9), and the second mounting portion (12) is arranged in a middle area of ​​the bottom plate (10) on a side away from the travel frame (9).

5. The driving wheel suspension device according to claim 4, characterized in that: The first mounting portion (11) is one of a hanging ear or a hook arranged on the second end, and the second mounting portion (12) is one of a hanging ear or a hook arranged on a surface of the bottom plate (10) facing the crossbeam (1).

6. The driving wheel suspension device according to claim 1, characterized in that: The connecting mechanism (2) comprises a connecting shaft (6) and a connecting frame (7); a first docking hole (51) is provided at the first end of the crossbeam (1); the connecting shaft (6) is inserted into the first docking hole (51); and the connecting frame (7) is connected between the first docking hole (51) and the connecting shaft (6).

7. The driving wheel suspension device according to claim 6, characterized in that: The connecting frame (7) includes two connecting plates extending in a vertical direction, each of the two connecting plates is provided with a second docking hole (52), and a bushing (8) is connected to the contact surface between the second docking hole (52) and the connecting shaft (6), the inner diameter of the bushing (8) matches the outer wall of the connecting shaft (6), and the outer diameter matches the inner wall of the second docking hole (52) and the inner wall of the first docking hole (51), and the bushing (8) is used to reduce the rotational friction between the crossbeam (1) and the connecting mechanism (2).

8. The driving wheel suspension device according to claim 1, characterized in that: The middle part of the crossbeam (1) is connected to a driving mechanism, and the driving mechanism comprises a clamping block (14), a shaft rod (15) and a driving wheel (4). The middle part of the crossbeam (1) is provided with a groove, one end of the shaft rod (15) is connected to the driving wheel (4), and the other end is inserted into the groove, and the clamping block (14) presses and fixes the shaft rod (15) in the groove.

9. The driving wheel suspension device according to claim 8, characterized in that: The cross beam (1) protrudes and extends the groove toward a side away from the driving wheel (4), and a first receiving groove (16) is provided in the groove. A second receiving groove (141) is provided on a side of the clamping block (14) facing the shaft rod (15). At least one of the first receiving groove (16) and the second receiving groove (141) is provided with a horizontal bottom surface, and a horizontal recess corresponding to the horizontal bottom surface is provided on the shaft rod (15). The groove formed by the first receiving groove (16) and the second receiving groove (141) is used to receive and fix the shaft rod (15).

10. A vehicle, characterized in that: Equipped with a drive wheel suspension device as claimed in any one of claims 1 to 9.

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